US6373557B1 - Method and apparatus for picking up a three-dimensional range image - Google Patents

Method and apparatus for picking up a three-dimensional range image Download PDF

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US6373557B1
US6373557B1 US09/581,091 US58109100A US6373557B1 US 6373557 B1 US6373557 B1 US 6373557B1 US 58109100 A US58109100 A US 58109100A US 6373557 B1 US6373557 B1 US 6373557B1
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sensor
pixel
integration
light
integration time
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Peter Mengel
Günter Doemens
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Siemens AG
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Siemens AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/0153—Passenger detection systems using field detection presence sensors
    • B60R21/01538—Passenger detection systems using field detection presence sensors for image processing, e.g. cameras or sensor arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Definitions

  • the present invention relates to a method and a device for picking up a three-dimensional range image of spatial objects.
  • Three-dimension projection and processing sensor systems are becoming more and more important for a variety of tasks in industrial technology.
  • Known optical radar systems such as laser radar are based either on the principle of measuring laser pulse transit times or on the determination of the phase difference of modulated laser light for the purpose of deriving the object's distance. Additional mechanical scanning devices are necessary in order to build a three-dimensional imaging system. This leads to a relatively expensive electronic and mechanical outlay, which limits the use of such three-dimensional systems to a few specific applications.
  • a method for picking up a three-dimensional range image of spacial objects using an optoelectronic sensor with pixel resolution having electronic short-time integrators for each pixel element within the sensor and wherein an integration time can be adjusted.
  • the method includes the steps of illuminating an object having a plurality of object points with one or more light pulses each having a predetermined period ⁇ L . Light pulses are then sensed with the sensor that have been backscattered by object points of the object at corresponding pixels of the sensor within a predetermined short integration time ⁇ A , where ⁇ A ⁇ L .
  • a time essence for the beginning of the predetermined short integration time ⁇ A proceeds incidence of the first backscattered light pulse at the sensor, which corresponds to a nearest object point.
  • intensities of each of the sensed light pulses that have been backscattered by the object points are registered and distance values are computed from different registered intensities of the backscattered light pulses resulting from their different transit times.
  • a method for picking up a three-dimensional range image of spacial objects using an optoelectronic sensor with pixel resolution includes the steps of first picking up and integrating the sensor signal of the sensor from the beginning of the picking up and integration to a defined integration time T 2 .
  • This integration represents dark current and environmental light.
  • an object is illuminated by an illumination device simultaneous to the beginning of the picking up and integration of the sensor signal at the sensor.
  • the integration occurs during a light intensity rise of the light received at the sensor up to an integration time T 1 where T 1 ⁇ T 2 .
  • the object is then repeatedly illuminated by the illumination device with simultaneous starting of the picking up and integration of the sensor signal at the sensor, wherein integration occurs within the light intensity rise of the light received at the sensor up to the integration time T 2 the respectively integrated value of the sensor signal for all pixels is readout and stored at times T 1 and T 2 .
  • a transit time T 0 of the light from the illumination device to the sensor via the object and a corresponding distance value based on the stored integrated values is calculated for each pixel.
  • an apparatus for picking up a three-dimensional range image including an illuminating device that emits light pulses onto an object via a first optical system.
  • An optoelectronic sensor with a second optical system is configured to sense received light pulses backscattered by the object within an adjustable integration time and is comprised of a plurality of pixel elements to provide a pixel resolution, the pixel elements being randomly readable and configured to adjust the integration time pixel by pixel.
  • a triggering mechanism is included that is configured to provide time synchronization between the illumination device and the sensor.
  • a computing unit is included to calculate a three-dimensional image from corresponding charges of pixel elements of the sensor that have been charged by the received light pulses.
  • the present invention is based on the recognition that an extremely fast registration of a three-dimensional range image is possible using a randomly readable optoelectronic sensor with pixel resolution whose integration time can be adjusted point by point.
  • an object is illuminated with one or more very short light pulses, whereupon light impulses of the same length are backscattered by the object.
  • These backscattered light pulses are conducted to the optoelectronic chip via a corresponding optical system. Owing to the difference in the distances of different points of the object from the sensor, backscattered light pulses that correspond to respective locations will arrive at the sensor at different times.
  • a time measuring window is opened for ranging whose duration corresponds to a predeterminable integration time.
  • the integration time is less than or equal to the length of the emitted and, thus, of the reflected light pulses. Hence, is guaranteed that a uniform cutoff of the backscattered light pulses occurs at the sensor at the end of the integration time.
  • the light pulses of each pixel element that arrive with a time delay are cut off in back, so that the different transit times can be converted into charge differences based on the different charges in the raster of the optoelectronic sensor.
  • a three-dimensional range image can be computed in this way.
  • a mere light intensity rise having a steep edge is used, which is correspondingly registered and evaluated at the sensor.
  • the measurement result becomes independent of the course of the trailing edge of the light pulse.
  • the influence of a dark current, which is generated by the operating heat of a sensor element, and the environmental light (unwanted light) portion can be exactly compensated for each pixel.
  • the dark current and the environmental light are acquired by a total of three consecutive measurements.
  • the light quantities that are reflected by the object and received at the sensor are integrated in the form of a senor signal in the context of an illumination, this process then being repeated with a longer integration time. From this, the transit time of the light can be computed for each object point by a corresponding interpolation. This allows the possibility of using lower light powers while at the same time affords more precise measurement of the transit time and, thus, the distance to the object.
  • all light pulses are registered simultaneous with the above described measurement process using a very long integration time or are registered after this with their full length at a time offset. This is used for normalizing, so that differences in the reflection behavior of the object can be detected and compensated.
  • the essential advantages of the invention are that mechanical shutters are are not used, for example. Extremely short image pick-up times can, thus, be realized.
  • the utilized optoelectronic sensor is generally referred to as a CMOS sensor, though this is merely the technical term for the semiconductor component. Using this type of sensor, minimum integration times of 50 to 30 nsec can be realized (jitter at less than 0.1%). Accordingly, technical development progresses with respect to the integration times.
  • FIG. 1 illustrates the functional principle for acquiring a three-dimensional range image using a CMOS sensor
  • FIG. 2 is a schematic representation of a time shift of two light impulses whose pertaining object points are different distances from the CMOS sensor, relative to integration windows;
  • FIG. 3 shows two variants of the senor for simultaneously acquiring three-dimensional range images and intensity or gray value images, respectively, using a CMOS sensor;
  • FIG. 4 shows the schematic representation of vehicle interior surveillance using a three-dimensional CMOS sensor
  • FIG. 5 shows the ranging process using an integrated CMOS image sensor, with representation of the signal of the laser diode at the transmit side and of the sensor signals at the receive side;
  • FIG. 6 shows the ranging process using an integrated CMOS image sensor, with FIG. 6 a representing the operation of a laser diode at the transmit side and FIG. 6 b representing the sensor signals that are achieved by continuous integration at the sensor;
  • FIG. 7 is a time correlation showing the relations between illumination at the transmit side and detection of a laser impulse at the receive side, with measuring signals in the contexts of a short integration time and a very long integration time being represented at the bottom of the Figure;
  • FIG. 8 shows the time correlation of the transmit-side and receive-side representation of a laser pulse, with two different short integration times provided in connection with the illumination control of the sensor.
  • FIG. 9 shows a schematic arrangement of light sources illuminating an object in predetermined areas, the light then being detected by sensors.
  • a method for the serial and simultaneous acquisition or generation of an intensity and a three-dimensional range image of a spatial object using an optoelectronic sensor under short-term illumination.
  • the method exploits the transit time differences between the light pulses that are backscattered by the three-dimensional objects in the pixel-synchronous detection at the sensor within short integration times.
  • a CMOS sensor is used. This sensor has a photosensitivity of 1 mLux, for example. Furthermore, it has a high intensity dynamic of up to 10 7 , a random access to the individual pixels and an adjustable integration time (sample & hold) for measuring the charge quantity Q(t) given illumination at the individual pixel.
  • CMOS does not require expensive mechanical shutters, and high-powered laser light sources need not be used for the temporary illumination.
  • the method is particularly suited to detecting persons and movement sequences in surveillance applications, for instance for monitoring the interior or exterior of a vehicle for crane automation, and for navigation.
  • the spatial objects that are to be captured are illuminated using short light pulses, (e.g., ⁇ 100 ns).
  • the illumination can be performed with laser light, for instance with a pulsed laser diode or with light sources such as a pulsed LED diode.
  • the method is independent of the angle of the illumination, which need not necessarily occur centrally in relation to the general direction of detection. It is also conceivable to use a ring light for coaxial illumination and detection.
  • the arrangement represented in FIG. 1 serves only for the schematic illustration of the functional principle.
  • a first image pick-up A is connected with a short integration time ⁇ A at the CMOS sensor.
  • the light pulses 3 of the length ⁇ L ( ⁇ 100 nsec) that are backscattered by the object points G of the three-dimensional scene 1 are acquired at the pixels 9 of the CMOS sensor within a set short integration time ⁇ A ⁇ L .
  • An electronic trigger pulse from elecronic trigger emitter 8 produces a fixed time relation between emitted light pulse 2 and the opening of the integration time window at the CMOS sensor. Due to the transit time of the light, there is a different time shift depending on object distance R of:
  • I O represents Intensity of the emitted light impulse
  • O R represents a Surface reflection coefficient at the object point G
  • t D is a trigger point time delay between emitted light pulse and start of the integration window at the CMOS sensor.
  • CMOS sensor For object points G with the same surface reflection coefficient O R , a different charge Q A is measured at the corresponding pixel of the CMOS sensor depending on their distance R. In this way, small differences in transit time of the light pulses are transformed into charge modifications Q A so that an integrated charge is representative of a respective object point G and its respective distance R (1 . . . ) . In a CMOS sensor these can be detected with a high degree of sensitivity and with a high dynamic. Objects of a three-dimensional scene usually.
  • a second image pick-up Q B is performed, which is dependent only on the surface reflection of the objects of the three-dimensional scene.
  • a second image pick-up B with a long integration time ⁇ B serves for normalizing the surface reflection of the three-dimensional scene, where in principle, the customary intensity image or gray value image is used.
  • a second integration time ⁇ B is set at the CMOS sensor, which is quite large compared to the length of an illumination pulse ( ⁇ B >> ⁇ L e.g. 1 microsecond).
  • ⁇ B >> ⁇ L e.g. 1 microsecond.
  • the image obtained is dependent only on the illumination intensity I 0 , the coefficient of surface reflection O R of the corresponding object point, and the length ⁇ L of the light pulse.
  • the two-dimensional range image Q R is generated from the difference and normalization of image pick-ups A and B, or respectively, Q A and Q B according to the condition:
  • This value can be output directly as range image Q R subsequent to the readout, digitization and additional scaling for all pixels. If the trigger delay time t D does not equal 0, then the following constant offset is added to all points of the range image Q R :
  • R D Distance value given t D (charge offset).
  • the simultaneous pick-up of intensity images and three-dimensional images is related to an execution of a spatially and chronologically parallel acquisition of intensity values and distance values.
  • a chip architecture and a pixel-related integration time are selected such that directly adjacent pixels A and B corresponding to FIG. 3 pick up the backscattered light impulses 3 of the three-dimensional scene on the CMOS sensor with a short integration time ⁇ A ⁇ L (for pixel A) and acquire these impulses with a long integration time ⁇ B >> ⁇ L simultaneously.
  • the two-dimensional range image of the allocated pixels A and B can then be directly computed according to the equation:
  • FIG. 3 is a schematic of two possible arrangements on the CMOS sensor for the parallel detection of intensity and the three-dimensional range image. Further variants are possible for this.
  • the simultaneous detection of intensity and the three-dimensional range image is important, particularly for the analysis of moving three-dimensional scenes, such as the detection of human gestures or for tracking an object.
  • an additional normalizing of the three-dimensional range image with respect to environmental light may be executed.
  • the charge of a pixel is first acquired with short and long integration times without illumination of the three-dimensional scene or the object, respectively, and subtracted from charges Q A and Q B that are measured under illumination. This is followed by the calculation of the range image.
  • sensitivity of the method to noise can be increased given low backscattered light intensities by forming a time average of the signals of several light impulses.
  • the measurement uncertainty for the distance determination depends on the signal/noise ratio of the CMOS sensor. Transit time differences as low as 0.1 ns should still be detectable. This results in a measurement uncertainty of less than 3 cm for the distance determination.
  • the applications of a preferred embodiment of the method and the apparatus of the present invention relate to the monitoring of interior spaces, particularly in vehicles, in connection with volumetric evaluation methods.
  • An object of the optical surveillance of interior space in vehicles is to detect seat occupancy (e.g., people, child seats, or other objects), to register the seat position of people, and for security against theft; (i.e., registering the unauthorized penetration into the interior of the vehicle from the outside.
  • the detection of people and their seat position is extremely important in terms of safety for the gradual release of an airbag (smart airbag) and must be performed very reliably and in short measuring times.
  • the present invention satisfies these requirements by a rapid and reliable generation of a three-dimensional range image Q R in the vehicle interior, wherein volumetric evaluation methods are employed.
  • the portions of net volume in the vehicle's interior that are occupied by objects 1 is determined from the distance values R in a solid angle element ⁇ as the difference relative to the distance values when the vehicle's interior is unoccupied (See FIG. 4 ).
  • the present method and apparatus deliver other significant advantages, such as fast, global detection of the current seat occupancy by forming the difference of a three-dimensional range image of the vehicle interior without objects (three-dimensional reference image Q RO ) and the three-dimensional range image, which is currently being evaluated, with a person or some other object Q RP on a seat.
  • R 0 stands for the distance values without a person or other object
  • R p stands for the distance values with a person or other object on the seat
  • dF is a differential area
  • the adaptive detection of the seat occupancy from the calculation of the relative distance changes before and after a person enters the vehicle can also be effected by the present invention.
  • the reliability of the difference determination can be increased further by applying regressive and stochastic evaluation methods.
  • Determination of the size of detected objects and the global discrimination of objects via volume comparison classes are also possible with the present invention.
  • volumetric tracking of movement sequences in the space given chronologically consecutive image pick-ups and difference formation. Is possible, as well as recognition of persons and gestures from the motion analysis.
  • This integral volume observation makes possible a global detection of objects and positions in space and is not reliant on the determination of features such as contours, corners, or edges in the image in order to recognize the object.
  • the evaluation times can be under 10 ms for the three-dimensional image pick-up and the volumetric evaluation.
  • a vehicle interior is one particular field of application of the described method and apparatus.
  • an object is illuminated with LED impulses of, for instance, 50 ns (nanoseconds) for the three-dimensional image pick-up.
  • the integration times at the CMOS sensor are selected at 50 ns for the image pick-up Q A and at 0.5 ⁇ s for the image pick-up Q B .
  • the scene dynamic, which is to be detected, in the vehicle interior should equal 200:1.
  • the digital acquisition of the three-dimensional range image Q R is thus guaranteed by a 12-bit AID converter.
  • a maximum of 10 4 read operations are necessary for the image pick-ups A with a short integration time and B with a long integration time.
  • These read operations lead to a total image pick-up time for the three-dimensional range image of 5 ms at the most, given read frequencies of 2 Mhz, for example.
  • the calculation of the difference volumes from the 2500 distance values can be performed in another 5 ms without difficulty using a fast processor such as a Pentium® operating at 200 Mhz.
  • FIG. 4 shows a schematic of an application of the invention in vehicle interiors.
  • the arrows with broken lines represent an unoccupied seat, and those with solid lines represent a seat that is occupied by a person.
  • the surrounding portion of net volume is determined from the three-dimensional distance data given an occupied and unoccupied vehicle.
  • the net volume V P of a person or some other object on the car seat is calculated according to equation (7).
  • T 0 transit time of the light
  • ⁇ A integration time
  • U ges measuring signal for A B ⁇ dark current portion for ⁇ B ;
  • U P U ges ⁇ (measuring signal portion for ⁇ A ⁇ dark current portion for ⁇ A ).
  • FIG. 8 evaluates the registered measuring signals at the sensor by means of an interpolation method.
  • the transit time of the light from the light source to the sensor via the object is given by the intersection of the curve of the measuring signal in FIG. 8, as it is crossed by the curve of the dark current portion.
  • Three-dimensional image acquisition which is required in a number of industrial applications of image processing, is necessary particularly for the automatic surveillance of spaces, such as a car interior for example. Overly high requirements are not placed on the precision of the range image/range image. Range images with some 1000 pixels would already suffice for spatial surveillance in most cases. Conventional triangulation methods differ by cost, as well as on the basis of the large measurement base that is required.
  • Both the illumination type corresponding to FIG. 7 and the type corresponding to FIG. 8 can realize a fast and cost-effective pick-up of a three-dimensional range image.
  • the transit time of the light which is necessary for the evaluation, is achieved for each image element point of the sensor 4 via the interpolation.
  • a light pulse with a definite length instead of a light pulse with a definite length, only a rise in light intensity with a steep edge is evaluated.
  • the laser pulse reflected by the object is cut off by two different integration times.
  • the measuring signal becomes independent of the course of the trailing edge of the light pulse, and on the other hand, it is possible to precisely compensate for the influence of the dark current, which arises by virtue of the operating temperatures of a sensor, for example, and the influence of the environmental light for each pixel.
  • FIG. 5 shows the distance measurement with an integrated CMOS image sensor.
  • the laser diode illuminating at the transmit side is represented, by its rectangular light impulse.
  • the measuring signals picked up at the receive side are represented.
  • the solid line that leads generally from the origin of the coordinate system to the voltage U D is the first measurement performed and contains a dark current portion plus an extraneous light portion.
  • U D is picked up at integration time T 2 , which is greater than another integration time T 1 .
  • the object 1 shown in FIG. 1 is illuminated with the laser diode, whereupon only the dark currents in the individual pixels in connection with the extraneous light portion are integrated.
  • the measuring signal rises from time T 0 more sharply in correspondence to the brightness of the respective pixel.
  • T 1 the voltage U 1 for all pixels is read out and stored.
  • T 2 the integration time T 2 that is already known from the first dark current measurement.
  • T 1 equals 30 ns and T 2 equals 60 ns.
  • the light transit time T 0 can be computed according to the formula represented in FIG. 5 . If a line is extended through the points U 2 and U 1 , further down this line intersects the line representing the dark current, which runs between the origin of the coordinate system and the voltage U D . At the intersection, the light transit time T 0 can be read. All values for U 1 and U 2 or for ⁇ U, for all pixels are likewise read out and stored. The transit time T 0 can be precisely and unambiguously computed for every pixel from the voltages U D , U 1 , U 2 and ⁇ U that are stored for each pixel, in connection with the predetermined integration times T 1 and T 2 , even when there are relatively high dark current portions U D . The following relation applies:
  • T 0 U 1 ⁇ T ⁇ U ⁇ T 1 /(U D ⁇ T/T 2 ⁇ AU).
  • a preferred embodiment provides that in order to reduce the laser power, which is extremely critical for reasons of cost, the above described process is repeated several times in succession, and the resulting values for U 1 , U D , and ⁇ U are read out and digitized only at the end of the multiple illumination of CMOS sensors. See FIGS. 6 a and 6 b in this regard.
  • An analogous average value formation for the multiple illumination on the CMOS sensor also avoids the relatively long readout times in a later digital averaging.
  • the described steps make it possible to calculate the light transit time T 0 precisely given the presence of dark current and environmental light, to read out the signal from the CMOS sensor only after the multiple illumination, whereupon the digitization follows, and to be able to adaptively adjust the multiple illumination in accordance with the object's reflectivity.
  • a previously required laser power can be reduced by a factor of 10 to 20, or, the accuracy can be increased.
  • the sensor principle used in the image sensor is an integrated method, based on use of an n + -p photodiode, for example.
  • This photodiode is a component of an electronic short-term integrator, which also comprises a capacitor and several transistors. The connection is configured such that the capacity of the capacitor is discharged depending on the light that strikes the photodiode. This is controlled via what is known as a shutter transistor. Next, the potential remaining in the capacitor is read, for example.
  • the time control of the electronic short-term integrator generates what is known as a strobe signal for controlling a light source.
  • An electronic short-term integrator (electronic shutter) such as this is used for each pixel element 9 of the sensor 4 .
  • the potential that has already been tapped can also be used as measurement value instead of the potential remaining in the capacitor at the end of a measurement.
  • FIG. 6 a shows several laser pulses that are switched in succession at the transmit side.
  • the integration time T 1 is represented in FIG. 6 b in connection with the respective voltage U 1 and the dark current portion U D .
  • the same can be mapped for T 2 , U 2 and U D .
  • FIGS. 7 and 8 By contrasting FIGS. 7 and 8, it can be seen that the interpolation method corresponding to FIG. 8 has shorter illumination times.
  • the average shutter times of 30 ns, for example, as and 60 ns represented in FIG. 8 and 60 ns as represented in connection with a very long laser pulse period in FIG. 7 should define the integration times at the sensor.
  • the time relation between the illumination at the transmit side and the arrival of the laser pulse at the receive side is shown.
  • the embodiments represented in the FIGS. 5 to 8 do not have a trigger delay time. This means that the measurement window is opened at the receive side with the beginning of the sensor impulse.
  • FIG. 7 For the representation in FIG.
  • the short-term shutter (60 ns) cuts off the received laser pulse (related to an object point or image element point) at time ⁇ A .
  • the period of the light impulse is ⁇ L at the transmit and receive sides.
  • the electronic short-term integrator at the sensor delivers a respective potential as measurement value that is integrated depending on the transit time from the time T 0 to the end of and ⁇ A .
  • the integration time ⁇ B is used to compensate reflectivity differences at the object 1 . There, a dark current and an extraneous light portion are calculated, which can be correspondingly subtracted from the measuring signal.
  • FIG. 8 shows a diagram that corresponds to FIG. 7, the upper graph of which is identical to that of FIG. 7 .
  • two short-term shutter times are shown. These are used to cut off the laser pulses that impinge at the sensor 4 , as in FIG. 7 .
  • T 1 the integration time
  • T 2 the integration time
  • the measuring signal has a dark current and extraneous light portion as shown in FIGS. 7 and 8.
  • the measuring signal is thus the result of the addition of the photocurrent portion to the dark current and the extraneous light portion.
  • the photocurrent portion can be computed in that the dark current and extraneous light portion are attracted from the measuring signal.
  • the transit time T 0 of the light emerges at the point on the time axis at which, given an incident reflected light pulse, the measuring signal diverts from the normal course of the dark current and extraneous light portions because the photocurrent portion is no longer zero.
  • the evaluation which yields the light transit time T 0 was described in connection with FIG. 5 .
  • a measurement object is partially illuminated in series. Illumination and evaluation occur simultaneously.
  • an object 1 is partially illuminated and respectively evaluated in series, wherein a specific part of the object 1 is allocated to one or more light sources 10 , respectively.
  • the rise time of the intensity of a light source 10 for instance of a laser, can be significantly shortened, possibly to 0.1 ns.
  • FIG. 9 shows a schematic arrangement of three light sources 10 , that respectively illuminate an object 1 in predetermined areas 11 .
  • the sensor 4 receives the reflected light portions that correspond to the partial areas 11 on the object 1 and processes them.
  • This development allows the limitation, for instance, of the laser power of an illumination unit that has a laser.
  • the serial illumination and detection can be realized cost-effectively, and it is not a problem to fall below maximum laser powers that are prescribed by specific standards.
  • the rise time of the laser intensity can be shortened considerably, for instance to 0.1 nsec.

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  • Engineering & Computer Science (AREA)
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  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
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  • Length Measuring Devices By Optical Means (AREA)
US09/581,091 1997-12-23 1998-11-14 Method and apparatus for picking up a three-dimensional range image Expired - Lifetime US6373557B1 (en)

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DE19757595 1997-12-23
DE19757595A DE19757595C2 (de) 1997-12-23 1997-12-23 Verfahren und Vorrichtung zur Aufnahme eines dreidimensionalen Abstandsbildes
DE19833207A DE19833207A1 (de) 1998-07-23 1998-07-23 Verfahren und Vorrichtung zur Aufnahme eines dreidimensionalen Abstandsbildes
DE19833207 1998-07-23
PCT/DE1998/003344 WO1999034235A1 (fr) 1997-12-23 1998-11-14 Procede et dispositif pour la prise d'une vue tridimensionnelle permettant la mesure d'une distance

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